Optimal integral force feedback and structured PI tracking control

application for objective lens positioner

Yik R Teo, Douglas Russell, Sumeet S Aphale, Andrew J Fleming

Research output: Contribution to journalArticle

14 Citations (Scopus)
3 Downloads (Pure)

Abstract

This paper describes a new vibration damping technique based on Integral Force Feedback (IFF). Classical IFF utilizes a force sensor and integral controller to damp the resonance modes of a mechanical system. However, the maximum modal damping depends on the frequency difference between the system’s poles and zeros. If the frequency difference is small, the achievable modal damping may be severely limited. The proposed technique allows an arbitrary damping ratio to be achieved by introducing an additional feed-through term to the control system. This results in an extra degree of freedom that allows the position of the zeros to be modified and the maximum modal damping to be increased. The second contribution of this paper is a structured PI tracking controller that is parameterized to cancel the additional pole introduced by integral force feedback. The parameterized controller has only one tuning parameter and does not suffer from reduced phase margin. The proposed techniques are demonstrated on a piezoelectric objective lens positioner. The results show exceptional tracking and damping performance while maintaining insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed damping and tracking controller, the bandwidth is increased to 255 Hz.
Original languageEnglish
Pages (from-to)701-711
Number of pages11
JournalMechatronics
Volume24
Issue number6
Early online date27 May 2014
DOIs
Publication statusPublished - Sep 2014

Fingerprint

Lenses
Damping
Feedback
Controllers
Bandwidth
Poles and zeros
Vibrations (mechanical)
Poles
Tuning
Control systems
Sensors

Keywords

  • force feedback
  • damping control
  • tracking control
  • nanopositioning

Cite this

Optimal integral force feedback and structured PI tracking control : application for objective lens positioner. / Teo, Yik R; Russell, Douglas; Aphale, Sumeet S; Fleming, Andrew J.

In: Mechatronics, Vol. 24, No. 6, 09.2014, p. 701-711.

Research output: Contribution to journalArticle

Teo, Yik R ; Russell, Douglas ; Aphale, Sumeet S ; Fleming, Andrew J. / Optimal integral force feedback and structured PI tracking control : application for objective lens positioner. In: Mechatronics. 2014 ; Vol. 24, No. 6. pp. 701-711.
@article{18120eed23dd4157ac9ee49bd0b45a52,
title = "Optimal integral force feedback and structured PI tracking control: application for objective lens positioner",
abstract = "This paper describes a new vibration damping technique based on Integral Force Feedback (IFF). Classical IFF utilizes a force sensor and integral controller to damp the resonance modes of a mechanical system. However, the maximum modal damping depends on the frequency difference between the system’s poles and zeros. If the frequency difference is small, the achievable modal damping may be severely limited. The proposed technique allows an arbitrary damping ratio to be achieved by introducing an additional feed-through term to the control system. This results in an extra degree of freedom that allows the position of the zeros to be modified and the maximum modal damping to be increased. The second contribution of this paper is a structured PI tracking controller that is parameterized to cancel the additional pole introduced by integral force feedback. The parameterized controller has only one tuning parameter and does not suffer from reduced phase margin. The proposed techniques are demonstrated on a piezoelectric objective lens positioner. The results show exceptional tracking and damping performance while maintaining insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed damping and tracking controller, the bandwidth is increased to 255 Hz.",
keywords = "force feedback, damping control, tracking control, nanopositioning",
author = "Teo, {Yik R} and Douglas Russell and Aphale, {Sumeet S} and Fleming, {Andrew J}",
year = "2014",
month = "9",
doi = "10.1016/j.mechatronics.2014.04.004",
language = "English",
volume = "24",
pages = "701--711",
journal = "Mechatronics",
issn = "0957-4158",
publisher = "Elsevier Limited",
number = "6",

}

TY - JOUR

T1 - Optimal integral force feedback and structured PI tracking control

T2 - application for objective lens positioner

AU - Teo, Yik R

AU - Russell, Douglas

AU - Aphale, Sumeet S

AU - Fleming, Andrew J

PY - 2014/9

Y1 - 2014/9

N2 - This paper describes a new vibration damping technique based on Integral Force Feedback (IFF). Classical IFF utilizes a force sensor and integral controller to damp the resonance modes of a mechanical system. However, the maximum modal damping depends on the frequency difference between the system’s poles and zeros. If the frequency difference is small, the achievable modal damping may be severely limited. The proposed technique allows an arbitrary damping ratio to be achieved by introducing an additional feed-through term to the control system. This results in an extra degree of freedom that allows the position of the zeros to be modified and the maximum modal damping to be increased. The second contribution of this paper is a structured PI tracking controller that is parameterized to cancel the additional pole introduced by integral force feedback. The parameterized controller has only one tuning parameter and does not suffer from reduced phase margin. The proposed techniques are demonstrated on a piezoelectric objective lens positioner. The results show exceptional tracking and damping performance while maintaining insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed damping and tracking controller, the bandwidth is increased to 255 Hz.

AB - This paper describes a new vibration damping technique based on Integral Force Feedback (IFF). Classical IFF utilizes a force sensor and integral controller to damp the resonance modes of a mechanical system. However, the maximum modal damping depends on the frequency difference between the system’s poles and zeros. If the frequency difference is small, the achievable modal damping may be severely limited. The proposed technique allows an arbitrary damping ratio to be achieved by introducing an additional feed-through term to the control system. This results in an extra degree of freedom that allows the position of the zeros to be modified and the maximum modal damping to be increased. The second contribution of this paper is a structured PI tracking controller that is parameterized to cancel the additional pole introduced by integral force feedback. The parameterized controller has only one tuning parameter and does not suffer from reduced phase margin. The proposed techniques are demonstrated on a piezoelectric objective lens positioner. The results show exceptional tracking and damping performance while maintaining insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed damping and tracking controller, the bandwidth is increased to 255 Hz.

KW - force feedback

KW - damping control

KW - tracking control

KW - nanopositioning

U2 - 10.1016/j.mechatronics.2014.04.004

DO - 10.1016/j.mechatronics.2014.04.004

M3 - Article

VL - 24

SP - 701

EP - 711

JO - Mechatronics

JF - Mechatronics

SN - 0957-4158

IS - 6

ER -